https://tgl.changnie.top/#video-libero_object_task00_teacher 2026-09-18 https://tgl.changnie.top/assets/posters/libero_object_task00_teacher.webp Same goal. A different grasp. — teacher demonstration The teacher supplies the task structure: acquire the can, carry it, release it in the basket. TGL takes a different approach direction and a different grasp, and still reaches the same outcome. The strategy carried over; the motion did not. Compare the approach direction and gripper orientation before the lift. https://tgl.changnie.top/assets/videos/libero_object_task00_teacher.mp4 2026-08-17 yes no https://tgl.changnie.top/#video-libero_object_task00_system 2026-09-18 https://tgl.changnie.top/assets/posters/libero_object_task00_system.webp Same goal. A different grasp. — Teach and Grow (ours) The teacher supplies the task structure: acquire the can, carry it, release it in the basket. TGL takes a different approach direction and a different grasp, and still reaches the same outcome. The strategy carried over; the motion did not. Compare the approach direction and gripper orientation before the lift. https://tgl.changnie.top/assets/videos/libero_object_task00_system.mp4 2026-08-17 yes no https://tgl.changnie.top/#video-libero_spatial_task00_teacher 2026-09-18 https://tgl.changnie.top/assets/posters/libero_spatial_task00_teacher.webp A new contact point. The same subgoal. — teacher demonstration TGL grasps a different part of the bowl rim than the teacher does. The subgoal is unchanged; the contact point is recomputed from the scene in front of the robot. Follow where the fingers contact the rim in each rollout. https://tgl.changnie.top/assets/videos/libero_spatial_task00_teacher.mp4 2026-08-17 yes no https://tgl.changnie.top/#video-libero_spatial_task00_system 2026-09-18 https://tgl.changnie.top/assets/posters/libero_spatial_task00_system.webp A new contact point. The same subgoal. — Teach and Grow (ours) TGL grasps a different part of the bowl rim than the teacher does. The subgoal is unchanged; the contact point is recomputed from the scene in front of the robot. Follow where the fingers contact the rim in each rollout. https://tgl.changnie.top/assets/videos/libero_spatial_task00_system.mp4 2026-08-17 yes no https://tgl.changnie.top/#video-libero_spatial_task09_teacher 2026-09-18 https://tgl.changnie.top/assets/posters/libero_spatial_task09_teacher.webp Miss. Observe. Try again. — teacher demonstration The first grasp does not secure the bowl. In this system rollout, TGL tries again and completes the placement: recovery driven by what the robot observed after the failed lift. Watch the first lift attempt, then the renewed approach and successful transfer. https://tgl.changnie.top/assets/videos/libero_spatial_task09_teacher.mp4 2026-08-17 yes no https://tgl.changnie.top/#video-libero_spatial_task09_system 2026-09-18 https://tgl.changnie.top/assets/posters/libero_spatial_task09_system.webp Miss. Observe. Try again. — Teach and Grow (ours) The first grasp does not secure the bowl. In this system rollout, TGL tries again and completes the placement: recovery driven by what the robot observed after the failed lift. Watch the first lift attempt, then the renewed approach and successful transfer. https://tgl.changnie.top/assets/videos/libero_spatial_task09_system.mp4 2026-08-17 yes no https://tgl.changnie.top/#video-libero_object_task02_teacher 2026-09-18 https://tgl.changnie.top/assets/posters/libero_object_task02_teacher.webp From a taught sequence to execution. — teacher demonstration The teacher and TGL both complete the bottle transfer. On a second object the same three stages hold: acquire, transport, release. Track the bottle from the initial grasp to release above the basket. https://tgl.changnie.top/assets/videos/libero_object_task02_teacher.mp4 2026-08-17 yes no https://tgl.changnie.top/#video-libero_object_task02_system 2026-09-18 https://tgl.changnie.top/assets/posters/libero_object_task02_system.webp From a taught sequence to execution. — Teach and Grow (ours) The teacher and TGL both complete the bottle transfer. On a second object the same three stages hold: acquire, transport, release. Track the bottle from the initial grasp to release above the basket. https://tgl.changnie.top/assets/videos/libero_object_task02_system.mp4 2026-08-17 yes no https://tgl.changnie.top/#video-libero_goal_task07_teacher 2026-09-18 https://tgl.changnie.top/assets/posters/libero_goal_task07_teacher.webp Turn a goal into a physical change. — teacher demonstration Here the goal is not a change of location. The robot has to reach the stove knob and turn it, and both clips follow the approach and the rotation itself. Focus on the gripper–knob contact and the resulting rotation. https://tgl.changnie.top/assets/videos/libero_goal_task07_teacher.mp4 2026-08-17 yes no https://tgl.changnie.top/#video-libero_goal_task07_system 2026-09-18 https://tgl.changnie.top/assets/posters/libero_goal_task07_system.webp Turn a goal into a physical change. — Teach and Grow (ours) Here the goal is not a change of location. The robot has to reach the stove knob and turn it, and both clips follow the approach and the rotation itself. Focus on the gripper–knob contact and the resulting rotation. https://tgl.changnie.top/assets/videos/libero_goal_task07_system.mp4 2026-08-17 yes no